【作者】 张小娜；

【导师】 马伯渊；

【作者基本信息】 西安电子科技大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 本文对微机械陀螺/微机械加速度计/电子罗盘/GPS的经济型组合捷联航姿系统的关键技术及工程实现问题进行了深入研究和必要的工程实验,为该项技术的推广应用奠定了基础。传感器误差是影响姿态解算精度的主要因素。因此本文对传感器的误差进行分析和补偿,并对传感器的数据进行处理。重点研究了微机械陀螺的随机漂移误差建模方法,将小波分析理论引入到微机械陀螺的随机漂移建模中,提高了建模精度。从工程实用的角度出发,对现有捷联姿态算法进行分析和比较,得出四阶龙格库塔法更适合实际应用的结论。由于微机械陀螺长时间运行后存在较大的积累误差,本文采用基于Kalman滤波器的多传感器信息融合技术来修正该误差,并给出了Kalman滤波算法和四阶龙格库塔算法组合校正陀螺漂移误差的定姿算法。建立了组合航姿系统的试验系统,并通过对该系统的静、动态试验,验证了算法的可行性和有效性。更多还原

【Abstract】 The key technologies and engineering implementation problems of the economic integrated strapdown attitude heading reference system which is based on micro-machined gyroscope, micro-machined accelerometer, GPS and electric compass are further discussed in this paper, and necessary engineering experiments are carried out, which lays a foundation for the widely using of the technology.Sensor errors are the main factors which have influence on attitude algorithm accuracy. So the analysis and compensation to sensor error, as well as the sensor data processing are done in this paper. The modeling method of micro-machined gyroscope random drift error is mainly studied, and wavelet analysis theory is introduced into the micro-machined gyroscope random drift modeling, which increases the modeling accuracy. From the view of engineering utility, through the analysis and comparison of the existing strapdown attitude algorithm,we get that the quaternion forth order runge-kutta method is more suitable for practical application.As micro-gyroscope has large accumulated errors after long running, multi-sensor data fusion technology based on Kalman filter is adopted to correct the accumulated error, and the integrated attitude determination algorithm based on Kalman filter and the forth order runge-kutta method is put forward in this paper.The testing system of integrated strapdown attitude heading reference system is established, and the effectiveness and feasibility of the algorithms are verified through by static and dynamic experiment.更多还原